#include <functional>
#include "base64.h"
#include <numeric>
#include <algorithm>
#include <cstdio>
#include <sys/socket.h>
#include <unistd.h>
#include "CommandParameters.h"
#include "process.h"
#include "initialization.h"

const char *base64_charset = "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
                             "abcdefghijklmnopqrstuvwxyz"
                             "0123456789"
                             "+/";

char _getBase64Char(char c) { return base64_charset[c]; }

int calc_base64_len(int data_len)
{
  int last = data_len * 8 % 6;
  if (last == 0)
  {
    return data_len * 8 / 6;
  }
  else
  {
    int base64_len = data_len * 8 / 6 + 1;
    base64_len += (last == 2 ? 2 : 1);
    return base64_len;
  }
}

void base64_encode(const char *pData, int len, char *pOut)
{
  int index = 0;
  while (len - index >= 3)
  {
    const char *p1 = pData + index;
    const char *p2 = p1 + 1;
    const char *p3 = p2 + 1;

    char c1 = ((*p1) & (0b11111100)) >> 2;
    char c2 = ((*p1) & (0b00000011)) << 4 | ((*p2) & 0b11110000) >> 4;
    char c3 = ((*p2) & (0b00001111)) << 2 | ((*p3) & 0b11000000) >> 6;
    char c4 = (*p3) & (0b00111111);

    *(pOut++) = _getBase64Char(c1);
    *(pOut++) = _getBase64Char(c2);
    *(pOut++) = _getBase64Char(c3);
    *(pOut++) = _getBase64Char(c4);

    index += 3;
  }

  int last = len - index;
  if (last == 1)
  {
    const char *p1 = pData + index;
    char c1 = ((*p1) & (0b11111100)) >> 2;
    char c2 = ((*p1) & (0b00000011)) << 4;
    *(pOut++) = _getBase64Char(c1);
    *(pOut++) = _getBase64Char(c2);
    *(pOut++) = '=';
    *(pOut++) = '=';
  }
  else if (last == 2)
  {
    const char *p1 = pData + index;
    const char *p2 = p1 + 1;
    char c1 = ((*p1) & (0b11111100)) >> 2;
    char c2 = ((*p1) & (0b00000011)) << 4 | ((*p2) & 0b11110000) >> 4;
    char c3 = ((*p2) & (0b00001111)) << 2;

    *(pOut++) = _getBase64Char(c1);
    *(pOut++) = _getBase64Char(c2);
    *(pOut++) = _getBase64Char(c3);
    *(pOut++) = '=';
    //*(pOut++)='=';
  }
}

const uint32_t Crc32::crcTable[] = {
    0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x76dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
    0xedb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x9b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
    0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
    0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
    0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
    0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
    0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
    0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
    0x76dc4190, 0x1db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x6b6b51f, 0x9fbfe4a5, 0xe8b8d433,
    0x7807c9a2, 0xf00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x86d3d2d, 0x91646c97, 0xe6635c01,
    0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
    0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
    0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
    0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
    0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
    0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
    0xedb88320, 0x9abfb3b6, 0x3b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x4db2615, 0x73dc1683,
    0xe3630b12, 0x94643b84, 0xd6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0xa00ae27, 0x7d079eb1,
    0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
    0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
    0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
    0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
    0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
    0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
    0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x26d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x5005713,
    0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0xcb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0xbdbdf21,
    0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
    0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
    0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
    0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
    0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
    0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d};

uint32_t Crc32::CRC(const uint8_t *bytes, int len)
{
  uint32_t crc32 = 0xffffffff;
  for (int i = 0; i < len; ++i)
  {
    crc32 = crcTable[(crc32 ^ bytes[i]) & 0xff] ^ (crc32 >> 8);
  }
  return (crc32 ^ 0xffffffff);
}

std::vector<uint8_t> EncodeMessage(int command, const std::string &data, int bytelength)
{
  std::vector<uint8_t> msgByte;
  msgByte.push_back(0x4E);
  msgByte.push_back(0x66);

  std::vector<uint8_t> dataByte(data.begin(), data.end());

  int dataLength = dataByte.size();

  if (bytelength != 3)
  {
    int dataLengthByte_pre = dataLength / 256;
    int dataLengthByte_aft = dataLength % 256;

    msgByte.push_back(static_cast<uint8_t>(dataLengthByte_pre));
    msgByte.push_back(static_cast<uint8_t>(dataLengthByte_aft));

    int command_pre = command / 256;
    int command_aft = command % 256;

    msgByte.push_back(static_cast<uint8_t>(command_pre));
    msgByte.push_back(static_cast<uint8_t>(command_aft));

    msgByte.insert(msgByte.end(), dataByte.begin(), dataByte.end());

    std::vector<uint8_t> msgToCrc32(msgByte.begin() + 2, msgByte.end());

    uint32_t crc32Num = Crc32::CRC(msgToCrc32.data(), msgToCrc32.size());

    uint8_t _crc32Byte[4];
    memcpy(_crc32Byte, &crc32Num, sizeof(crc32Num));

    uint8_t crc32Byte[4];
    for (int i = 0; i < 4; i++)
    {
      crc32Byte[i] = _crc32Byte[3 - i];
    }

    msgByte.insert(msgByte.end(), crc32Byte, crc32Byte + 4);

    return msgByte;
  }
  else
  {
    int dataLengthByte_pre = dataLength / int(0xffff);
    int dataLengthByte_aft = dataLength % int(0xffff) / 256;
    int dataLengthByte_end = dataLength % 256;

    msgByte.push_back(static_cast<uint8_t>(dataLengthByte_pre));
    msgByte.push_back(static_cast<uint8_t>(dataLengthByte_aft));
    msgByte.push_back(static_cast<uint8_t>(dataLengthByte_end));

    int command_pre = command / 256;
    int command_aft = command % 256;

    msgByte.push_back(static_cast<uint8_t>(command_pre));
    msgByte.push_back(static_cast<uint8_t>(command_aft));

    msgByte.insert(msgByte.end(), dataByte.begin(), dataByte.end());

    std::vector<uint8_t> msgToCrc32(msgByte.begin() + 2, msgByte.end());

    uint32_t crc32Num = Crc32::CRC(msgToCrc32.data(), msgToCrc32.size());

    uint8_t _crc32Byte[4];
    memcpy(_crc32Byte, &crc32Num, sizeof(crc32Num));

    uint8_t crc32Byte[4];
    for (int i = 0; i < 4; i++)
    {
      crc32Byte[i] = _crc32Byte[3 - i];
    }

    msgByte.insert(msgByte.end(), crc32Byte, crc32Byte + 4);

    return msgByte;
  }
}

std::vector<uint8_t> EncodeMessage(int command, const std::vector<uint8_t> &dataByte, int bytelength)
{
  std::vector<uint8_t> msgByte;

  msgByte.push_back(0x4E);
  msgByte.push_back(0x66);

  int dataLength = dataByte.size();

  if (bytelength != 3)
  {
    int dataLengthByte_pre = dataLength / 256;
    int dataLengthByte_aft = dataLength % 256;

    msgByte.push_back(static_cast<uint8_t>(dataLengthByte_pre));
    msgByte.push_back(static_cast<uint8_t>(dataLengthByte_aft));

    int command_pre = command / 256;
    int command_aft = command % 256;

    msgByte.push_back(static_cast<uint8_t>(command_pre));
    msgByte.push_back(static_cast<uint8_t>(command_aft));

    msgByte.insert(msgByte.end(), dataByte.begin(), dataByte.end());

    std::vector<uint8_t> msgToCrc32(msgByte.begin() + 2, msgByte.end());

    uint32_t crc32Num = Crc32::CRC(msgToCrc32.data(), msgToCrc32.size());

    uint8_t _crc32Byte[4];
    memcpy(_crc32Byte, &crc32Num, sizeof(crc32Num));

    uint8_t crc32Byte[4];
    for (int i = 0; i < 4; i++)
    {
      crc32Byte[i] = _crc32Byte[3 - i];
    }

    msgByte.insert(msgByte.end(), crc32Byte, crc32Byte + 4);

    return msgByte;
  }
  else
  {
    int dataLengthByte_pre = dataLength / int(0xffff);
    int dataLengthByte_aft = dataLength % int(0xffff) / 256;
    int dataLengthByte_end = dataLength % 256;

    msgByte.push_back(static_cast<uint8_t>(dataLengthByte_pre));
    msgByte.push_back(static_cast<uint8_t>(dataLengthByte_aft));
    msgByte.push_back(static_cast<uint8_t>(dataLengthByte_end));

    int command_pre = command / 256;
    int command_aft = command % 256;

    msgByte.push_back(static_cast<uint8_t>(command_pre));
    msgByte.push_back(static_cast<uint8_t>(command_aft));

    msgByte.insert(msgByte.end(), dataByte.begin(), dataByte.end());

    std::vector<uint8_t> msgToCrc32(msgByte.begin() + 2, msgByte.end());

    uint32_t crc32Num = Crc32::CRC(msgToCrc32.data(), msgToCrc32.size());

    uint8_t _crc32Byte[4];
    memcpy(_crc32Byte, &crc32Num, sizeof(crc32Num));

    uint8_t crc32Byte[4];
    for (int i = 0; i < 4; i++)
    {
      crc32Byte[i] = _crc32Byte[3 - i];
    }

    msgByte.insert(msgByte.end(), crc32Byte, crc32Byte + 4);

    return msgByte;
  }
}

std::vector<Message> DecodeMessage(std::vector<uint8_t> &receivedBytes, int bytelength)
{

  std::vector<Message> messages;
  int MIN_LENGTH = 10;
  if (bytelength == 3)
  {
    MIN_LENGTH = 11;
  }

  // 递归辅助函数
  std::function<void(std::vector<uint8_t> &)> decodeHelper = [&](std::vector<uint8_t> &bytes)
  {
    if (bytes.size() < MIN_LENGTH)
    {
      return; // 不再进行解析
    }

    auto fIndex = std::find(bytes.begin(), bytes.end(), 0x4E);
    if (fIndex == bytes.end())
    {
      bytes.clear();
      return; // 不再进行解析
    }

    auto index = std::distance(bytes.begin(), fIndex);

    if (*(fIndex + 1) != 0x66)
    {
      bytes.erase(bytes.begin(), bytes.begin() + index);
      return; // 不再进行解析
    }

    int dataLength;
    if (MIN_LENGTH == 10)
    {
      dataLength = *(fIndex + 2) * 256 + *(fIndex + 3);
    }
    else
    {
      dataLength = *(fIndex + 2) * 256 * 256 + *(fIndex + 3) * 256 + *(fIndex + 4);
    }

    if (bytes.size() < MIN_LENGTH + dataLength)
    {
      return; // 不再进行解析
    }

    // 提取并计算CRC
    std::vector<uint8_t> dataForCrc(fIndex + 2, fIndex + MIN_LENGTH - 4 + dataLength);
    uint32_t calculatedCrc = Crc32::CRC(dataForCrc.data(), dataForCrc.size());

    uint8_t receivedCrc[4];
    std::copy(fIndex + MIN_LENGTH - 4 + dataLength, fIndex + MIN_LENGTH + dataLength, receivedCrc);

    // 逆序处理接收到的CRC，以匹配编码时的字节序
    uint32_t receivedCrcValue = (receivedCrc[0] << 24) | (receivedCrc[1] << 16) | (receivedCrc[2] << 8) | receivedCrc[3];

    if (calculatedCrc != receivedCrcValue)
    {
      // CRC校验失败，移除至当前帧头的数据
      bytes.erase(bytes.begin(), fIndex + 1); // 仅移除到当前帧头的部分，保留fIndex之后的数据
      decodeHelper(bytes);                    // 重新尝试解析剩余的数据
      return;                                 // 退出当前递归调用
    }

    int commandInt = *(fIndex + MIN_LENGTH - 6) * 256 + *(fIndex + MIN_LENGTH - 5);

    std::vector<uint8_t> dataBytes(bytes.begin() + index + MIN_LENGTH - 4,
                                   bytes.begin() + index + MIN_LENGTH - 4 + dataLength);

    Message message;
    message.data = std::string(dataBytes.begin(), dataBytes.end());
    message.command = commandInt;
    messages.push_back(message);

    bytes.erase(bytes.begin(), bytes.begin() + index + MIN_LENGTH + dataLength);

    decodeHelper(bytes); // 递归调用
  };

  decodeHelper(receivedBytes); // 初始调用

  return messages;
}

void printVector(std::vector<double> &v)
{

  for (std::vector<double>::iterator it = v.begin(); it != v.end(); it++)
  {
    std::cout << *it << " ";
  }
  std::cout << std::endl;
}

void MessageProcessor(Message message)
{
  switch (message.command)
  {
  case (int)1:
  {
    break;
  }
  default:
  {
    break;
  }
  }
}